{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:AU37BOQNV53NMROZC5SVXEFDIE","short_pith_number":"pith:AU37BOQN","canonical_record":{"source":{"id":"2502.02705","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T20:40:44Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"7d224b4d12c8cea4dc172c222cc2cc77e29e1d8dae2c5863234ec5df9b06f46c","abstract_canon_sha256":"1302da170b34d95ad6a91fc08ea694577ba49b01ad7aa62417343a25e37e99aa"},"schema_version":"1.0"},"canonical_sha256":"0537f0ba0daf76d645d917655b90a3411cbcece97ec1d87ea562f71cdb26592b","source":{"kind":"arxiv","id":"2502.02705","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.02705","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"arxiv_version","alias_value":"2502.02705v1","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.02705","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"pith_short_12","alias_value":"AU37BOQNV53N","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"pith_short_16","alias_value":"AU37BOQNV53NMROZ","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"pith_short_8","alias_value":"AU37BOQN","created_at":"2026-07-05T10:09:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:AU37BOQNV53NMROZC5SVXEFDIE","target":"record","payload":{"canonical_record":{"source":{"id":"2502.02705","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T20:40:44Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"7d224b4d12c8cea4dc172c222cc2cc77e29e1d8dae2c5863234ec5df9b06f46c","abstract_canon_sha256":"1302da170b34d95ad6a91fc08ea694577ba49b01ad7aa62417343a25e37e99aa"},"schema_version":"1.0"},"canonical_sha256":"0537f0ba0daf76d645d917655b90a3411cbcece97ec1d87ea562f71cdb26592b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:09:53.765045Z","signature_b64":"WFf+Y7nHHx6qXypI2XayY5fgGLysA+6iCE1ryTG5jJlAsyEu+JZb4s6kIiBBnREObUA14YPi2+jNpCfQbsOWDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0537f0ba0daf76d645d917655b90a3411cbcece97ec1d87ea562f71cdb26592b","last_reissued_at":"2026-07-05T10:09:53.764657Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:09:53.764657Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.02705","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:09:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8OaoE9xN8eUodDY8kQRBVJx8B7Xc9yWQ3Fg1Ra5q0RzlL2uiyDqfvfqbljg8aD7n4ukWlndCCsGp4IsYvIrnAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T19:06:45.473675Z"},"content_sha256":"522e22c068cbe0b5312c3aa09f3505f4ad0900862238340d790c081ec98b0af1","schema_version":"1.0","event_id":"sha256:522e22c068cbe0b5312c3aa09f3505f4ad0900862238340d790c081ec98b0af1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:AU37BOQNV53NMROZC5SVXEFDIE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Abhishek Gupta, Andrey Kobolov, Ching-An Cheng, Kevin Huang, Patrick Yin, Simran Bagaria, Tyler Westenbroek","submitted_at":"2025-02-04T20:40:44Z","abstract_excerpt":"Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad coverage over states, actions, and environments. However, physics engines are fundamentally misspecified approximations to reality. This makes direct zero-shot transfer from simulation to reality challenging, especially in tasks where precise and force-sensitive manipulation is necessary. Thus, fine-tuning these policies with small real-world data sets is a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.02705","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2502.02705/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:09:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HDMQ7aVpAZdICFx/ZfVDtQ6PJG7YdHDqwGkhwbJ7R/bQ4MJaEeixLKbfeogeEHJq9b42kOG4fJMgwXzGrmkvCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T19:06:45.474159Z"},"content_sha256":"b59978f473de52c13d0eddecb552a11d77b9c3013c9a2188cb4b7b9b8987b7c7","schema_version":"1.0","event_id":"sha256:b59978f473de52c13d0eddecb552a11d77b9c3013c9a2188cb4b7b9b8987b7c7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AU37BOQNV53NMROZC5SVXEFDIE/bundle.json","state_url":"https://pith.science/pith/AU37BOQNV53NMROZC5SVXEFDIE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AU37BOQNV53NMROZC5SVXEFDIE/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-09T19:06:45Z","links":{"resolver":"https://pith.science/pith/AU37BOQNV53NMROZC5SVXEFDIE","bundle":"https://pith.science/pith/AU37BOQNV53NMROZC5SVXEFDIE/bundle.json","state":"https://pith.science/pith/AU37BOQNV53NMROZC5SVXEFDIE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AU37BOQNV53NMROZC5SVXEFDIE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:AU37BOQNV53NMROZC5SVXEFDIE","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"1302da170b34d95ad6a91fc08ea694577ba49b01ad7aa62417343a25e37e99aa","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T20:40:44Z","title_canon_sha256":"7d224b4d12c8cea4dc172c222cc2cc77e29e1d8dae2c5863234ec5df9b06f46c"},"schema_version":"1.0","source":{"id":"2502.02705","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.02705","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"arxiv_version","alias_value":"2502.02705v1","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.02705","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"pith_short_12","alias_value":"AU37BOQNV53N","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"pith_short_16","alias_value":"AU37BOQNV53NMROZ","created_at":"2026-07-05T10:09:53Z"},{"alias_kind":"pith_short_8","alias_value":"AU37BOQN","created_at":"2026-07-05T10:09:53Z"}],"graph_snapshots":[{"event_id":"sha256:b59978f473de52c13d0eddecb552a11d77b9c3013c9a2188cb4b7b9b8987b7c7","target":"graph","created_at":"2026-07-05T10:09:53Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2502.02705/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad coverage over states, actions, and environments. However, physics engines are fundamentally misspecified approximations to reality. This makes direct zero-shot transfer from simulation to reality challenging, especially in tasks where precise and force-sensitive manipulation is necessary. Thus, fine-tuning these policies with small real-world data sets is a","authors_text":"Abhishek Gupta, Andrey Kobolov, Ching-An Cheng, Kevin Huang, Patrick Yin, Simran Bagaria, Tyler Westenbroek","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T20:40:44Z","title":"Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.02705","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:522e22c068cbe0b5312c3aa09f3505f4ad0900862238340d790c081ec98b0af1","target":"record","created_at":"2026-07-05T10:09:53Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"1302da170b34d95ad6a91fc08ea694577ba49b01ad7aa62417343a25e37e99aa","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-04T20:40:44Z","title_canon_sha256":"7d224b4d12c8cea4dc172c222cc2cc77e29e1d8dae2c5863234ec5df9b06f46c"},"schema_version":"1.0","source":{"id":"2502.02705","kind":"arxiv","version":1}},"canonical_sha256":"0537f0ba0daf76d645d917655b90a3411cbcece97ec1d87ea562f71cdb26592b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0537f0ba0daf76d645d917655b90a3411cbcece97ec1d87ea562f71cdb26592b","first_computed_at":"2026-07-05T10:09:53.764657Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:09:53.764657Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WFf+Y7nHHx6qXypI2XayY5fgGLysA+6iCE1ryTG5jJlAsyEu+JZb4s6kIiBBnREObUA14YPi2+jNpCfQbsOWDg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:09:53.765045Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.02705","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:522e22c068cbe0b5312c3aa09f3505f4ad0900862238340d790c081ec98b0af1","sha256:b59978f473de52c13d0eddecb552a11d77b9c3013c9a2188cb4b7b9b8987b7c7"],"state_sha256":"1bf0fe4b12ba35e256f7187186d2389f51024ac3e9c4f2563182ad380f9e4390"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Tw8Qx/4AIUTtcV4vm5cFf8biBynFEjjqwl8LUwCJzpdzx9FI9MoNpR0xRVyXJbPdDitNOz393plnp+b4tZcMBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T19:06:45.477311Z","bundle_sha256":"c5944eaa2c99c5295d33def9fe683c884ac59f1eea03966d188562c0ef026beb"}}